CN106696761B

CN106696761B - A kind of electric car intelligent driven controlling system and its drive control method

Info

Publication number: CN106696761B
Application number: CN201710060558.2A
Authority: CN
Inventors: 严世榕
Original assignee: Fuzhou University
Current assignee: Fuzhou University
Priority date: 2017-01-25
Filing date: 2017-01-25
Publication date: 2019-03-12
Anticipated expiration: 2037-01-25
Also published as: CN106696761A

Abstract

The present invention relates to a kind of electric car intelligent driven controlling system and drive control methods, the electric car includes accelerator pedal, brake pedal, two drive shafts, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, and the electric car intelligent driven controlling system includes entire car controller and the brake system controller connecting respectively with entire car controller, angle of brake pedal sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensors and four drive motor controllers；Drive control method of the present invention is according to accelerator angle, adjust automatically electric car is uniaxial or two axis drive, or the size of adjust automatically acceleration, deceleration, or judge automatically electric wheel truck whether fall into such as sand pit, greasy dirt road surface, subsided land class low attachment and make its safe escape automatically.It is proposed of the invention is conducive to electric wheel truck technological progress, and promotes social progress and development.

Description

A kind of electric car intelligent driven controlling system and its drive control method

Technical field

The present invention relates to a kind of electric car intelligent driven controlling system and its drive control methods.

Background technique

It is various under the excitation of China's relevant policies with the rapid growth of motor vehicles in use amount and the sharp increase of environmental pressure Electric car rapid emergence.How preferably Development of EV and its relevant technologies, many colleges and universities, research institution and enterprise do Positive effort is gone out, although achieving many progress, the time that electric car occurs in China after all is shorter, overall skill Art need to be improved and develop.

Electric Motor Wheel electric car typically refers to the electric car for directly integrating driving motor and driving wheel, Have many advantages, such as compact-sized, arrangement convenience, using flexible, energy-saving, is just causing the concern of the more people in the whole world.

To reduce driver's labor intensity, improves electric wheel truck driveability, improves riding comfort and energy conservation, this hair It is bright to propose a kind of driving intelligence control system and method suitable for electric wheel truck, so that driver only needs to add by control Speed pedal angle, electric car can realize that uniaxial or two axis drive automatically, the size of adjust automatically acceleration, deceleration, from It is dynamic to judge whether electric wheel truck falls into the low attachment ground such as road surface sump oil and sand pit or subsided land, and make vapour automatically Vehicle leaves safely low attachment ground, sand pit or subsided land.It is proposed of the invention is conducive to electric wheel truck technological progress, and promotes Social progress and development.

Summary of the invention

In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide, a kind of design is reasonable, and structure is simple, driveability Stablize, the electric car intelligent driven controlling system of high degree of automation, at the same provide a kind of manipulation simplicity, easily grasp it is electronic The drive control method of automobile intelligent driving control system.

To realize above-mentioned first purpose, the invention adopts the following technical scheme:

A kind of electric car intelligent driven controlling system, the electric car include accelerator pedal, brake pedal, two drives Moving axis, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, the electric car intelligently drive Autocontrol system includes entire car controller and the brake system controller connecting respectively with entire car controller, angle of brake pedal Sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensors and four drivings Electric machine controller；Four drive motor controllers are connect with four driving motors of four Electric Motor Wheels respectively, four wheel speeds Sensor is respectively used to four Electric Motor Wheel revolving speeds of detection, and brake system controller is connect with brake pedal, and angle of brake pedal passes Sensor is for detecting brake pedal rotational angle, and accelerator angle sensor is for detecting accelerator pedal rotational angle；It is described Electric car changes accelerator pedal rotational angle by accelerator pedal, to be adjusted to uniaxial driving or the driving of two axis, to carry out Acceleration of starting, traveling speed-raising and its velocity magnitude adjustment carry out traveling reduction of speed and its velocity magnitude adjustment, electronic to carry out Wheel falls into rescue when low attachment ground, sand pit or subsided land.

To realize above-mentioned second purpose, the invention adopts the following technical scheme:

A kind of drive control method of electric car intelligent driven controlling system is applied to control electric car intelligent drives Control system comprising electric car starts forward acceleration control method, electric car proposing in moving ahead from stationary state The method for slowing-down control and electric car of speed control method, electric car in moving ahead fall into low attachment ground, sand pit or collapse Fall into rescue control method when ground.

The electric car from the forward acceleration control method of stationary state starting the following steps are included:

1) entire car controller first obtains the angle of brake pedal information of current brake pedal angular transducer acquisition, judges vapour Whether vehicle is on-position；If so, without response；If it is not, executing step 2；

2) entire car controller obtains the accelerator angle information of current accelerator angle sensor acquisition, judgement in real time Whether current accelerator angle α meets 0 < α≤α 1, and α 1 is that the first drive shaft defaulted in entire car controller is individually driven in formula Accelerator angle corresponding to dynamic threshold limit value；If so, executing step 3)；If it is not, executing step 4)；

3) vehicle control unit controls automobile is driven with the first drive shaft, and by two drivings of entire car controller and axis electricity Machine controller jointly controls mode, and automobile balance is made to accelerate to driver intention speed V, keeps two driving motors of the axis Running parameter and kinematic parameter are constant, drive at a constant speed automobile with speed V；Period, the second drive shaft and its corresponding two drives Dynamic motor is not involved in driving；

4) entire car controller judges whether current accelerator angle α meets 1 < α of α≤α 2, and α 2 is to default in vehicle in formula Accelerator angle corresponding to two drive shafts driving threshold limit value in controller；If so, executing step 5)；If it is not, executing Step 6)；

5) entire car controller calls four drive motor controllers in two drive shafts simultaneously, and combines four driving motors Controller controls four driving motors in two drive shafts respectively and corresponding Electric Motor Wheel is driven steadily to accelerate, until car speed reaches After driver intention speed V, keep the running parameter of four driving motors and kinematic parameter constant, allow automobile with speed V at the uniform velocity It moves ahead；

6) entire car controller combines four drive motor controllers in two drive shafts simultaneously, controls four in two drive shafts A driving motor drives corresponding Electric Motor Wheel steadily to accelerate, until electric car speed reaches and faces corresponding to accelerator angle α 2 The corresponding vehicle velocity V 2 of boundary's power, keeps the running parameter of four driving motors and kinematic parameter constant, allows electric car with speed V2 at the uniform velocity moves ahead.

The electric car move ahead in speed-raising control method the following steps are included:

7) electric car is during single shaft driving accelerates or drives at a constant speed, every time Δ t1, entire car controller tune An accelerator angle information is detected with accelerator angle sensor, when discovery accelerator angle increase, is judged Whether current accelerator angle α meets α > α 1；If it is not, then using speed corresponding to current accelerator angle α as speed control Target processed executes car speed regulation by step 3)；If so, executing following steps:

Entire car controller first combines two drive motor controllers in the first drive shaft, keeps two driving motors of the axis Running parameter and kinematic parameter remain unchanged, recall two in the second drive shaft drive motor controllers and combine this two A drive motor controller drives two corresponding Electric Motor Wheels steadily to accelerate, up to the Electric Motor Wheel revolving speed in the second drive shaft reaches the Electric Motor Wheel revolving speed in one drive shaft, then entire car controller combines four drive motor controllers in two drive shafts simultaneously, Controlling four driving motors respectively drives corresponding Electric Motor Wheel steadily to accelerate, until car speed reaches current accelerator angle α After corresponding driver intention speed V, keep the running parameter of four driving motors and kinematic parameter constant, electric car with Speed V at the uniform velocity moves ahead；

8) electric car is during two drive shafts drive acceleration or drive at a constant speed, every time Δ t2, full-vehicle control Device calls accelerator angle sensor to detect an accelerator angle information, when discovery accelerator angle increase, carries out Judge whether current accelerator angle α meets α≤α 2；If so, using speed corresponding to current accelerator angle α as speed Goal of regulation and control is executed by step 5)；If it is not, being executed by step 6).

The electric car move ahead in method for slowing-down control the following steps are included:

(1) electric car is during two axis four-wheel drives move ahead, and every time Δ t3, entire car controller, which calls, to be accelerated to step on Plate angular transducer detects an accelerator angle information, judges whether current accelerator angle α is reducing；If so, holding Row step (2)；If it is not, automobile is continued to move ahead by original state；

(2) entire car controller judges whether current accelerator angle α meets α > α 1；If it is not, executing step (3)；If so, Then execute following steps:

Entire car controller combines four drive motor controllers simultaneously and controls corresponding four driving motors respectively, makes corresponding four A Electric Motor Wheel synchronizes steady deceleration, until current car speed is reduced to driver intention speed V, keeps four driving motors Running parameter and kinematic parameter are constant, and electric car is at the uniform velocity moved ahead with speed V；

(3) entire car controller, which first combines four drive motor controllers and controls four driving motors respectively, makes four Electric Motor Wheels Steady deceleration is synchronized, until current car speed is reduced to the corresponding threshold value of the first drive shaft corresponding to accelerator angle α 1 Speed, then, entire car controller control the power-off of two driving motors in the second drive shaft first to stop driving, and make on the axis As driven wheel, two drive motor controllers that then entire car controller is combined in the first drive shaft control on the axis Electric Motor Wheel Two driving motors corresponding Electric Motor Wheel is synchronized steadily continue to slow down, until current car speed is reduced to driver intention fast After spending V, keep the running parameter of two driving motors of the first drive shaft and kinematic parameter constant, electric car is even with speed V Speed moves ahead.

(4) electric car is during uniaxial two-wheel drive moves ahead, and every time Δ t4, entire car controller, which calls, to be accelerated to step on Plate angular transducer detects an accelerator angle information, judges whether current accelerator angle α is reducing；If so, holding Row step (5)；If it is not, automobile is continued to move ahead by original state；

(5) entire car controller joint drives two drive motor controllers on the axis to control two drivings on the axis respectively The corresponding Electric Motor Wheel of motor driven synchronizes steady deceleration, until current car speed is reduced to driver intention speed V, keeps the axis Two driving motors running parameter and kinematic parameter it is constant, electric car with speed V at the uniform velocity move ahead.

The accelerator angle preset value α 1 and accelerator angle preset value α 2 is for according to electric automobile class Type, automobile front axle driving motor watt level, automobile hind axle driving motor watt level and both ratio size and automobile The steady principle of acceleration and deceleration is comprehensive to be determined.

The electric car fall into low attachment ground, sand pit or rescue control method when subsided land the following steps are included:

(1) electric car is using two Electric Motor Wheels in the first drive shaft as driving wheel and with two in the second drive shaft When a Electric Motor Wheel moves ahead as driven wheel:

Every time Δ t5, entire car controller is obtained once when the rotary speed information of first four wheel speed sensors acquisition, and sentences Break when whether the rotating speed difference of front driving wheel and driven wheel is more than or equal to Δ w1, the Δ w1 is to default in entire car controller First rotational speed difference preset value；If it is not, continuing to travel by original state；If so, judge driving wheel fall into low attachment ground, sand pit or Subsided land, at this point, executing rescue step A if the first drive shaft is front axle), if the first drive shaft is rear axle, execute rescue Step B)；

Rescue step A): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make accordingly Two driving motor power-off stop driving corresponding Electric Motor Wheel rotation, then associated braking system controller makes four Electric Motor Wheels immediately For steady band-type brake until Electric Motor Wheel is motionless, entire car controller obtains the distance letter of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again Breath, when judging that electric car will not generate collision with other objects, double sudden strains of a muscle of starting electric car are immediately controlled in entire car controller Lamp warns periphery, while combining two drive motor controllers in the second drive shaft and controlling the electricity of two drivings on the axis respectively Machine drives corresponding Electric Motor Wheel, low to allow back of automobile to leave with the pre-set velocity w3 smooth rotation with Electric Motor Wheel opposite direction just now Attachment ground, sand pit or subsided land, until entire car controller passes through the second drive shaft again after electric car sails out of a certain distance s1 Two drive motor controllers make the power-off of corresponding two driving motors, stop driving corresponding Electric Motor Wheel, and associated braking system Controller controls four Electric Motor Wheel band-type brake parkings, then stops double flashing light work；

Rescue step B): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make accordingly Two driving motor power-off stop driving corresponding Electric Motor Wheel rotation, then combine two driving motors in the second drive shaft immediately Controller controls two driving motors on the axis respectively and drives corresponding Electric Motor Wheel, with default with the Electric Motor Wheel same direction just now Speed w3 smooth rotation leaves low attachment ground, sand pit or subsided land to allow automobile to move on, until electric car sails out of one After Duan Lucheng s1, entire car controller obtains the range information of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again, judges electronic When automobile will not generate collision with other objects, double flashing lights warning periphery of starting electric car is immediately controlled in entire car controller, Two drive motor controllers that entire car controller passes through the second drive shaft again make corresponding two driving motors power-off, stop driving Corresponding Electric Motor Wheel, and combine brake system controller and control four Electric Motor Wheel band-type brake parkings, then stop double flashing light work；

(2) electric car is using two Electric Motor Wheels in the first drive shaft as driving wheel and with two in the second drive shaft When a Electric Motor Wheel is retreated as driven wheel:

Every time Δ t5, entire car controller is obtained once when the rotary speed information of first four wheel speed sensors acquisition, and sentences Break when whether the rotating speed difference of front driving wheel and driven wheel is more than or equal to Δ w1, the Δ w1 is to default in entire car controller First rotational speed difference preset value；If it is not, continuing to travel by original state；If so, judge driving wheel fall into low attachment ground, sand pit or Subsided land, at this point, executing rescue step C if the first drive shaft is rear axle), if the first drive shaft is front axle, execute rescue Step D)；

Rescue step C): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make accordingly Two driving motor power-off stop driving corresponding Electric Motor Wheel rotation, then associated braking system controller makes four Electric Motor Wheels immediately For steady band-type brake until Electric Motor Wheel is motionless, entire car controller obtains the distance letter of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again Breath, when judging that electric car will not generate collision with other objects, double sudden strains of a muscle of starting electric car are immediately controlled in entire car controller Lamp warns periphery, while combining two drive motor controllers in the second drive shaft and controlling the electricity of two drivings on the axis respectively Machine drives corresponding Electric Motor Wheel, low to allow automobile to advance away from the pre-set velocity w3 smooth rotation with Electric Motor Wheel opposite direction just now Attachment ground, sand pit or subsided land, until entire car controller passes through the second drive shaft again after electric car sails out of a certain distance s1 Two drive motor controllers make the power-off of corresponding two driving motors, stop driving corresponding Electric Motor Wheel, and associated braking system Controller controls four Electric Motor Wheel band-type brake parkings, then stops double flashing light work；

Rescue step D): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make accordingly Two driving motor power-off stop driving corresponding Electric Motor Wheel rotation, warn periphery immediately followed by double flashing lights of starting electric car, Combine two driving motors that two drive motor controllers in the second drive shaft are controlled respectively on the axis immediately simultaneously to drive Corresponding Electric Motor Wheel, with the pre-set velocity w3 smooth rotation with the Electric Motor Wheel same direction just now with allow automobile continue to pull back from it is low attached It lands, sand pit or subsided land, until entire car controller passes through the second drive shaft again after electric car sails out of a certain distance s1 Two drive motor controllers make corresponding two driving motors power-off, stop driving corresponding Electric Motor Wheel, and associated braking system control Device processed controls four Electric Motor Wheel band-type brake parkings, then stops double flashing light work；

(3) when electric car is moved ahead using four Electric Motor Wheels in two drive shafts as driving wheel:

Every time Δ t6, entire car controller obtains the rotary speed information when the acquisition of first four wheel speed sensors, judges electronic Whether the rotating speed difference of front axle Electric Motor Wheel and rear axle Electric Motor Wheel when automobile front driving is greater than Δ w2, and the Δ w2 is to default in vehicle The second rotational speed difference preset value in controller, if it is not, continuing to move ahead by original state, if so, judging that Electric Motor Wheel falls into low attachment Ground, sand pit or subsided land execute rescue step E)；

Rescue step E): entire car controller first combines four drive motor controllers in two drive shafts immediately, allows four Driving motor driving power-off stops driving corresponding Electric Motor Wheel, then four Electric Motor Wheels of associated braking system controller control immediately are flat For steady band-type brake until Electric Motor Wheel is motionless, entire car controller obtains the distance letter of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again Breath, when judging that electric car will not generate collision with other objects, double sudden strains of a muscle of starting electric car are immediately controlled in entire car controller Lamp warns periphery；Meanwhile entire car controller combines the corresponding two drivings electricity of two drive motor controllers control of rear axle immediately Machine drives corresponding Electric Motor Wheel to rotate with the pre-set velocity w3 of Electric Motor Wheel opposite direction just now, retreats automobile balance low to leave Attachment ground, sand pit or subsided land, until entire car controller combines respective drive motor after electric car sails out of a certain distance s2 Controller, which controls respective drive motor, to be stopped driving corresponding Electric Motor Wheel, and is combined brake system controller and controlled four Electric Motor Wheels armful Then lock parking stops double flashing light work；

(4) when electric car is retreated using four Electric Motor Wheels in two drive shafts as driving wheel:

Every time Δ t6, entire car controller obtains the rotary speed information when the acquisition of first four wheel speed sensors, judges electronic Whether the rotating speed difference of rear axle Electric Motor Wheel and front axle Electric Motor Wheel when back of automobile is greater than Δ w3, and the Δ w3 is to default in vehicle Third rotational speed difference preset value in controller, if it is not, continuing to retreat by original state, if so, judging that Electric Motor Wheel falls into low attachment Ground, sand pit or subsided land execute rescue step F)；

Rescue step F): entire car controller first combines four drive motor controllers in two drive shafts immediately, allows four Driving motor driving power-off stops driving corresponding Electric Motor Wheel, then four Electric Motor Wheels of associated braking system controller control immediately are flat For steady band-type brake until Electric Motor Wheel is motionless, entire car controller obtains the distance letter of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again Breath, when judging that electric car will not generate collision with other objects, double sudden strains of a muscle of starting electric car are immediately controlled in entire car controller Lamp warns periphery；Meanwhile two drive motor controllers of entire car controller joint front axle control corresponding two driving motors and drive Corresponding Electric Motor Wheel is moved to rotate with the pre-set velocity w3 of Electric Motor Wheel opposite direction just now, so that automobile balance is advanced to leave low attachment Ground, sand pit or subsided land, until entire car controller combines respective drive motor control after electric car sails out of a certain distance s2 Device, which controls respective drive motor, to be stopped driving corresponding Electric Motor Wheel, and is combined brake system controller four Electric Motor Wheel band-type brakes of control and stopped Then vehicle stops double flashing light work.

The first rotational speed difference preset value Δ w1, the second rotational speed difference preset value Δ w2, third rotational speed difference preset value Δ w3 are equal For according to vehicle, Tire aspect and road conditions carry out experimental verification determine preset value, for judge electric car front axle or Whether rear axle falls into low attachment ground, sand pit or subsided land；Distance s1 and distance s2, pre-set velocity w3 are all in accordance with vehicle, tire Shape is preset with condition of road surface.

When first drive shaft is automobile front axle, then the second drive shaft is automobile hind axle；First drive shaft is vapour When vehicle rear axle, then the second drive shaft is automobile front axle.

The invention adopts the above technical scheme, has following technical effect that

The present invention can reduce driver's labor intensity, improve electric wheel truck driveability, improve riding comfort and Energy conservation, so that driver only needs by controlling accelerator angle, electric car energy adjust automatically is uniaxial, two axis drive, or The size of adjust automatically acceleration, deceleration, or judge automatically electric wheel truck whether to fall into sand pit, road surface sump oil etc. low Attachment ground simultaneously makes automobile withdraw these Dangerous Areas automatically.It is proposed of the invention is conducive to electric wheel truck technological progress, and promotees Into social progress and development.

Detailed description of the invention

Now in conjunction with attached drawing, the present invention is further elaborated:

Fig. 1 is the functional block diagram of electric car intelligent driven controlling system of the present invention.

Specific embodiment

As shown in Figure 1, electric car intelligent driven controlling system of the invention, the electric car include accelerator pedal, Brake pedal, two drive shafts, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, it is described Electric car intelligent driven controlling system includes entire car controller and the braking system connecting respectively with entire car controller control Device, angle of brake pedal sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speeds pass Sensor and four drive motor controllers；Four drive motor controllers respectively with four driving motors of four Electric Motor Wheels Connection, four wheel speed sensors are respectively used to four Electric Motor Wheel revolving speeds of detection, and brake system controller is connect with brake pedal, make Dynamic pedal angle sensor turns for detecting brake pedal rotational angle, accelerator angle sensor for detecting accelerator pedal Dynamic angle；The electric car changes accelerator pedal rotational angle by accelerator pedal, to be adjusted to uniaxial driving or two axis Driving, to carry out Acceleration of starting, traveling speed-raising and its velocity magnitude adjustment or carry out traveling reduction of speed and its velocity magnitude adjustment, To carry out rescue when Electric Motor Wheel falls into low attachment ground, sand pit or subsided land.

The entire car controller is passed with brake system controller, angle of brake pedal sensor, accelerator angle respectively Sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensors and four drive motor controllers be directly connected to or It is connected by CAN bus.

Four Electric Motor Wheels are respectively the left Electric Motor Wheel of front axle, the right Electric Motor Wheel of front axle, the left Electric Motor Wheel of rear axle and the right electricity of rear axle Driving wheel；Four driving motors are respectively front axle left driving motor, front axle right driving motor, rear axle left driving motor and rear axle Right driving motor；Four drive motor controllers are respectively front axle left driving motor controller, front axle right driving motor control Device, rear axle left driving motor controller and rear axle right driving motor controller processed；Four wheel speed sensors are respectively front axle The right Electric Motor Wheel wheel speed sensors of left Electric Motor Wheel wheel speed sensors, front axle, the left Electric Motor Wheel wheel speed sensors of rear axle and the rear axle right side are electronic Take turns wheel speed sensors.

The drive control method of electric car intelligent driven controlling system of the invention is applied to control electric car intelligence Driving control system comprising electric car is from the forward acceleration control method of stationary state starting, electric car in moving ahead Speed-raising control method, electric car method for slowing-down control and electric car in moving ahead with falling into low attachment, sand pit or Rescue control method when person's subsided land.

Above description should not have any restriction to protection scope of the present invention.

Claims

1. a kind of drive control method of electric car intelligent driven controlling system, the electric car includes accelerator pedal, system Dynamic pedal, two drive shafts, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, the electricity Electrical automobile intelligent driven controlling system include entire car controller and the brake system controller being connect respectively with entire car controller, Angle of brake pedal sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensings Device and four drive motor controllers；Four drive motor controllers connect with four driving motors of four Electric Motor Wheels respectively It connects, four wheel speed sensors are respectively used to four Electric Motor Wheel revolving speeds of detection, and brake system controller is connect with brake pedal, brake Pedal angle sensor is for detecting brake pedal rotational angle, and accelerator angle sensor is for detecting accelerator pedal rotation Angle；The electric car changes accelerator pedal rotational angle by accelerator pedal, is driven with being adjusted to uniaxial driving or two axis It is dynamic, to carry out Acceleration of starting, traveling speed-raising and its velocity magnitude adjustment or carry out traveling reduction of speed and its velocity magnitude adjustment, with Carry out rescue when Electric Motor Wheel falls into low attachment ground, sand pit or subsided land；It is characterized by: the drive control method includes Electric car is from speed-raising control method in forward of forward the accelerations control method of stationary state starting, electric car, electronic Method for slowing-down control and electric car of the automobile in moving ahead fall into rescue control when low attachment ground, sand pit or subsided land Method；

1) entire car controller first obtains the angle of brake pedal information of current brake pedal angular transducer acquisition, judges that automobile is No is on-position；If so, without response；If it is not, executing step 2；

2) entire car controller obtains the accelerator angle information of current accelerator angle sensor acquisition in real time, and judgement is current Whether accelerator angle α meets 0 < α≤α 1, and α 1 is that the first drive shaft defaulted in entire car controller is operated alone and faces in formula Accelerator angle corresponding to boundary's threshold value；If so, executing step 3)；If it is not, executing step 4)；

3) vehicle control unit controls automobile is driven with the first drive shaft, and presses two driving motor controls of entire car controller and the axis Device processed jointly controls mode, and automobile balance is made to accelerate to driver intention speed V, keeps the work of two driving motors of the axis Parameter and kinematic parameter are constant, drive at a constant speed automobile with speed V；Period, the second drive shaft and its corresponding two drivings electricity Machine is not involved in driving；

4) entire car controller judges whether current accelerator angle α meets 1 < α of α≤α 2, and α 2 is to default in full-vehicle control in formula Accelerator angle corresponding to two drive shafts driving threshold limit value in device；If so, executing step 5)；If it is not, executing step 6)；

5) entire car controller calls four drive motor controllers in two drive shafts simultaneously, and combines four driving motor controls Device controls four driving motors in two drive shafts respectively and corresponding Electric Motor Wheel is driven steadily to accelerate, until car speed reaches driving After member is intended to speed V, keep the running parameter of four driving motors and kinematic parameter constant, automobile is at the uniform velocity moved ahead with speed V；

6) entire car controller combines four drive motor controllers in two drive shafts simultaneously, controls four drives in two drive shafts The dynamic corresponding Electric Motor Wheel of motor driven steadily accelerates, until electric car speed reaches critical power corresponding to accelerator angle α 2 Corresponding vehicle velocity V 2, keeps the running parameter of four driving motors and kinematic parameter constant, electric car with speed V2 at the uniform velocity before Row.

2. a kind of drive control method of electric car intelligent driven controlling system, the electric car includes accelerator pedal, system Dynamic pedal, two drive shafts, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, the electricity Electrical automobile intelligent driven controlling system include entire car controller and the brake system controller being connect respectively with entire car controller, Angle of brake pedal sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensings Device and four drive motor controllers；Four drive motor controllers connect with four driving motors of four Electric Motor Wheels respectively It connects, four wheel speed sensors are respectively used to four Electric Motor Wheel revolving speeds of detection, and brake system controller is connect with brake pedal, brake Pedal angle sensor is for detecting brake pedal rotational angle, and accelerator angle sensor is for detecting accelerator pedal rotation Angle；The electric car changes accelerator pedal rotational angle by accelerator pedal, is driven with being adjusted to uniaxial driving or two axis It is dynamic, to carry out Acceleration of starting, traveling speed-raising and its velocity magnitude adjustment or carry out traveling reduction of speed and its velocity magnitude adjustment, with Carry out rescue when Electric Motor Wheel falls into low attachment ground, sand pit or subsided land；It is characterized by: the drive control method includes Electric car is from speed-raising control method in forward of forward the accelerations control method of stationary state starting, electric car, electronic Method for slowing-down control and electric car of the automobile in moving ahead fall into rescue control when low attachment ground, sand pit or subsided land Method；

7) electric car is during single shaft driving accelerates or drives at a constant speed, and every time Δ t1, entire car controller, which calls, to be added Speed pedal angular transducer detects an accelerator angle information, when discovery accelerator angle increase, judge current Whether accelerator angle α meets α > α 1；If it is not, then controlling mesh by speed of speed corresponding to current accelerator angle α Mark executes car speed regulation by step 3)；If so, executing following steps:

Entire car controller first combines two drive motor controllers in the first drive shaft, keeps the work of two driving motors of axis Make parameter and kinematic parameter remains unchanged, recall two in the second drive shaft drive motor controllers and combines the two drives Dynamic electric machine controller drives two corresponding Electric Motor Wheels steadily to accelerate, until the Electric Motor Wheel revolving speed in the second drive shaft reaches the first drive Electric Motor Wheel revolving speed on moving axis, then entire car controller combines four drive motor controllers in two drive shafts simultaneously, respectively Controlling four driving motors drives corresponding Electric Motor Wheel steadily to accelerate, until to reach current accelerator angle α institute right for car speed After the driver intention speed V answered, keep the running parameter of four driving motors and kinematic parameter constant, electric car is with speed V at the uniform velocity moves ahead；

8) electric car is during two drive shafts drive acceleration or drive at a constant speed, every time Δ t2, entire car controller tune An accelerator angle information is detected with accelerator angle sensor, when discovery accelerator angle increase, is judged Whether current accelerator angle α meets α≤α 2；If so, regulating and controlling by speed of speed corresponding to current accelerator angle α Target is executed by step 5)；If it is not, being executed by step 6).

3. a kind of drive control method of electric car intelligent driven controlling system, the electric car includes accelerator pedal, system Dynamic pedal, two drive shafts, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, the electricity Electrical automobile intelligent driven controlling system include entire car controller and the brake system controller being connect respectively with entire car controller, Angle of brake pedal sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensings Device and four drive motor controllers；Four drive motor controllers connect with four driving motors of four Electric Motor Wheels respectively It connects, four wheel speed sensors are respectively used to four Electric Motor Wheel revolving speeds of detection, and brake system controller is connect with brake pedal, brake Pedal angle sensor is for detecting brake pedal rotational angle, and accelerator angle sensor is for detecting accelerator pedal rotation Angle；The electric car changes accelerator pedal rotational angle by accelerator pedal, is driven with being adjusted to uniaxial driving or two axis It is dynamic, to carry out Acceleration of starting, traveling speed-raising and its velocity magnitude adjustment or carry out traveling reduction of speed and its velocity magnitude adjustment, with Carry out rescue when Electric Motor Wheel falls into low attachment ground, sand pit or subsided land；It is characterized by: the drive control method includes Electric car is from speed-raising control method in forward of forward the accelerations control method of stationary state starting, electric car, electronic Method for slowing-down control and electric car of the automobile in moving ahead fall into rescue control when low attachment ground, sand pit or subsided land Method；

(1) for electric car during two axis four-wheel drives move ahead, every time Δ t3, entire car controller calls accelerator pedal angle It spends sensor and detects an accelerator angle information, judge whether current accelerator angle α is reducing；If so, executing step Suddenly (2)；If it is not, automobile is continued to move ahead by original state；

(2) entire car controller judges whether current accelerator angle α meets α > α 1；If it is not, executing step (3)；If so, holding Row following steps:

Entire car controller combines four drive motor controllers simultaneously and controls corresponding four driving motors respectively, makes corresponding four electricity Driving wheel synchronizes steady deceleration, until current car speed is reduced to driver intention speed V, keeps the work of four driving motors Parameter and kinematic parameter are constant, and electric car is at the uniform velocity moved ahead with speed V；

(3) entire car controller, which first combines four drive motor controllers and controls four driving motors respectively, keeps four Electric Motor Wheels synchronous It is steady to slow down, until current car speed is reduced to the corresponding threshold value speed of the first drive shaft corresponding to accelerator angle α 1 Degree, then, entire car controller control the power-off of two driving motors in the second drive shaft first to stop driving, and make the electricity on the axis As driven wheel, two drive motor controllers that then entire car controller is combined in the first drive shaft control on the axis driving wheel Two driving motors synchronize corresponding Electric Motor Wheel steadily to continue to slow down, until current car speed is reduced to driver intention speed After V, keep the first drive shaft two driving motors running parameter and kinematic parameter it is constant, electric car with speed V at the uniform velocity It moves ahead.

4. a kind of drive control method of electric car intelligent driven controlling system, the electric car includes accelerator pedal, system Dynamic pedal, two drive shafts, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, the electricity Electrical automobile intelligent driven controlling system include entire car controller and the brake system controller being connect respectively with entire car controller, Angle of brake pedal sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensings Device and four drive motor controllers；Four drive motor controllers connect with four driving motors of four Electric Motor Wheels respectively It connects, four wheel speed sensors are respectively used to four Electric Motor Wheel revolving speeds of detection, and brake system controller is connect with brake pedal, brake Pedal angle sensor is for detecting brake pedal rotational angle, and accelerator angle sensor is for detecting accelerator pedal rotation Angle；The electric car changes accelerator pedal rotational angle by accelerator pedal, is driven with being adjusted to uniaxial driving or two axis It is dynamic, to carry out Acceleration of starting, traveling speed-raising and its velocity magnitude adjustment or carry out traveling reduction of speed and its velocity magnitude adjustment, with Carry out rescue when Electric Motor Wheel falls into low attachment ground, sand pit or subsided land；It is characterized by: the drive control method includes Electric car is from speed-raising control method in forward of forward the accelerations control method of stationary state starting, electric car, electronic Method for slowing-down control and electric car of the automobile in moving ahead fall into rescue control when low attachment ground, sand pit or subsided land Method；

(4) for electric car during uniaxial two-wheel drive moves ahead, every time Δ t4, entire car controller calls accelerator pedal angle It spends sensor and detects an accelerator angle information, judge whether current accelerator angle α is reducing；If so, executing step Suddenly (5)；If it is not, automobile is continued to move ahead by original state；

(5) entire car controller joint drives two drive motor controllers on the axis to control two driving motors on the axis respectively It drives corresponding Electric Motor Wheel to synchronize steady deceleration, until current car speed is reduced to driver intention speed V, keeps the two of the axis The running parameter and kinematic parameter of a driving motor are constant, and electric car is at the uniform velocity moved ahead with speed V.

5. a kind of drive control method of electric car intelligent driven controlling system described in one of -4 according to claim 1, Be characterized in that: the accelerator angle preset value α 1 and accelerator angle preset value α 2 is for according to electric automobile class Type, automobile front axle driving motor watt level, automobile hind axle driving motor watt level and both ratio size and automobile The steady principle of acceleration and deceleration is comprehensive to be determined.

6. a kind of drive control method of electric car intelligent driven controlling system, the electric car includes accelerator pedal, system Dynamic pedal, two drive shafts, four Electric Motor Wheels with respective driving motor being mounted on two drive shaft both ends, the electricity Electrical automobile intelligent driven controlling system include entire car controller and the brake system controller being connect respectively with entire car controller, Angle of brake pedal sensor, accelerator angle sensor, preceding distance measuring sensor, rear distance measuring sensor, four wheel speed sensings Device and four drive motor controllers；Four drive motor controllers connect with four driving motors of four Electric Motor Wheels respectively It connects, four wheel speed sensors are respectively used to four Electric Motor Wheel revolving speeds of detection, and brake system controller is connect with brake pedal, brake Pedal angle sensor is for detecting brake pedal rotational angle, and accelerator angle sensor is for detecting accelerator pedal rotation Angle；The electric car changes accelerator pedal rotational angle by accelerator pedal, is driven with being adjusted to uniaxial driving or two axis It is dynamic, to carry out Acceleration of starting, traveling speed-raising and its velocity magnitude adjustment or carry out traveling reduction of speed and its velocity magnitude adjustment, with Carry out rescue when Electric Motor Wheel falls into low attachment ground, sand pit or subsided land；It is characterized by: the drive control method includes Electric car is from speed-raising control method in forward of forward the accelerations control method of stationary state starting, electric car, electronic Method for slowing-down control and electric car of the automobile in moving ahead fall into rescue control when low attachment ground, sand pit or subsided land Method；

(1) electric car is using two Electric Motor Wheels in the first drive shaft as driving wheel and with two electricity in the second drive shaft When driving wheel moves ahead as driven wheel:

Every time Δ t5, entire car controller is obtained once when the rotary speed information of first four wheel speed sensors acquisition, and judges to work as Whether the rotating speed difference of front driving wheel and driven wheel is more than or equal to Δ w1, and the Δ w1 is first defaulted in entire car controller Rotational speed difference preset value；If it is not, continuing to travel by original state；If so, judging that driving wheel falls into low attachment ground, sand pit or collapses Ground, at this point, executing rescue step A if the first drive shaft is front axle), if the first drive shaft is rear axle, execute rescue step B)；

Rescue step A): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make corresponding two Driving motor power-off stops driving corresponding Electric Motor Wheel rotation, then associated braking system controller keeps four Electric Motor Wheels steady immediately For band-type brake until Electric Motor Wheel is motionless, entire car controller obtains the range information of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again, When judging that electric car will not generate collision with other objects, double flashing lights that starting electric car is immediately controlled in entire car controller are alert Show periphery, while combining two drive motor controllers in the second drive shaft and controlling the drive of two driving motors on the axis respectively Corresponding Electric Motor Wheel is moved, with the pre-set velocity w3 smooth rotation with Electric Motor Wheel opposite direction just now to allow back of automobile to leave low attachment Ground, sand pit or subsided land, until entire car controller passes through the two of the second drive shaft again after electric car sails out of a certain distance s1 A drive motor controller makes corresponding two driving motors power-off, stops driving corresponding Electric Motor Wheel, and associated braking system controls Device controls four Electric Motor Wheel band-type brake parkings, then stops double flashing light work；

Rescue step B): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make corresponding two Driving motor power-off stops driving corresponding Electric Motor Wheel rotation, then combines two driving motors control in the second drive shaft immediately Device controls two driving motors on the axis respectively and drives corresponding Electric Motor Wheel, with the pre-set velocity with the Electric Motor Wheel same direction just now W3 smooth rotation leaves low attachment ground, sand pit or subsided land to allow automobile to move on, until electric car sails out of stretch After journey s1, entire car controller obtains the range information of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again, judges electric car When will not generate collision with other objects, double flashing lights warning periphery of starting electric car, vehicle is immediately controlled in entire car controller Two drive motor controllers that controller passes through the second drive shaft again make corresponding two driving motors power-off, stop driving accordingly Electric Motor Wheel, and combine brake system controller and control four Electric Motor Wheel band-type brake parkings, then stop double flashing light work；

(2) electric car is using two Electric Motor Wheels in the first drive shaft as driving wheel and with two electricity in the second drive shaft When driving wheel is retreated as driven wheel:

Every time Δ t5, entire car controller is obtained once when the rotary speed information of first four wheel speed sensors acquisition, and judges to work as Whether the rotating speed difference of front driving wheel and driven wheel is more than or equal to Δ w1, and the Δ w1 is first defaulted in entire car controller Rotational speed difference preset value；If it is not, continuing to travel by original state；If so, judging that driving wheel falls into low attachment ground, sand pit or collapses Ground, at this point, executing rescue step C if the first drive shaft is rear axle), if the first drive shaft is front axle, execute rescue step D)；

Rescue step C): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make corresponding two Driving motor power-off stops driving corresponding Electric Motor Wheel rotation, then associated braking system controller keeps four Electric Motor Wheels steady immediately For band-type brake until Electric Motor Wheel is motionless, entire car controller obtains the range information of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again, When judging that electric car will not generate collision with other objects, double flashing lights that starting electric car is immediately controlled in entire car controller are alert Show periphery, while combining two drive motor controllers in the second drive shaft and controlling the drive of two driving motors on the axis respectively Corresponding Electric Motor Wheel is moved, with the pre-set velocity w3 smooth rotation with Electric Motor Wheel opposite direction just now to allow automobile to advance away from low attachment Ground, sand pit or subsided land, until entire car controller passes through the two of the second drive shaft again after electric car sails out of a certain distance s1 A drive motor controller makes corresponding two driving motors power-off, stops driving corresponding Electric Motor Wheel, and associated braking system controls Device controls four Electric Motor Wheel band-type brake parkings, then stops double flashing light work；

Rescue step D): two drive motor controllers that entire car controller is first combined in the first drive shaft immediately make corresponding two Driving motor power-off stops driving corresponding Electric Motor Wheel rotation, warns periphery immediately followed by double flashing lights of starting electric car, simultaneously It is corresponding to combine two driving motors driving that two in the second drive shaft drive motor controllers are controlled respectively on the axis immediately Electric Motor Wheel, with the pre-set velocity w3 smooth rotation with the Electric Motor Wheel same direction just now to allow automobile to continue to pull back from low attachment Ground, sand pit or subsided land, until entire car controller passes through the two of the second drive shaft again after electric car sails out of a certain distance s1 A drive motor controller makes corresponding two driving motors power-off, stops driving corresponding Electric Motor Wheel, and associated braking system controls Device controls four Electric Motor Wheel band-type brake parkings, then stops double flashing light work；

Every time Δ t6, entire car controller obtains the rotary speed information when the acquisition of first four wheel speed sensors, judges electric car Whether the rotating speed difference of front axle Electric Motor Wheel and rear axle Electric Motor Wheel when moving ahead is greater than Δ w2, and the Δ w2 is to default in full-vehicle control The second rotational speed difference preset value in device, if it is not, continuing to move ahead by original state, if so, judging that Electric Motor Wheel falls into low attachment ground, sand Hole or subsided land execute rescue step E)；

Rescue step E): entire car controller first combines four drive motor controllers in two drive shafts immediately, allows four drivings Motor driven power-off stops driving corresponding Electric Motor Wheel, then four Electric Motor Wheels of associated braking system controller control are steadily embraced immediately For lock until Electric Motor Wheel is motionless, entire car controller obtains the range information of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again, sentences When collision will not be generated with other objects by powering off electrical automobile, double flashing lights warning of starting electric car is immediately controlled in entire car controller Periphery；Meanwhile entire car controller combines the corresponding two driving motors driving of two drive motor controllers control of rear axle immediately Corresponding Electric Motor Wheel retreats automobile balance to leave low attachment to rotate with the pre-set velocity w3 of Electric Motor Wheel opposite direction just now Ground, sand pit or subsided land, until entire car controller combines respective drive motor control after electric car sails out of a certain distance s2 Device, which controls respective drive motor, to be stopped driving corresponding Electric Motor Wheel, and is combined brake system controller four Electric Motor Wheel band-type brakes of control and stopped Then vehicle stops double flashing light work；

Every time Δ t6, entire car controller obtains the rotary speed information when the acquisition of first four wheel speed sensors, judges electric car Whether the rotating speed difference of rear axle Electric Motor Wheel and front axle Electric Motor Wheel when retrogressing is greater than Δ w3, and the Δ w3 is to default in full-vehicle control Third rotational speed difference preset value in device, if it is not, continuing to retreat by original state, if so, judging that Electric Motor Wheel falls into low attachment ground, sand Hole or subsided land execute rescue step F)；

Rescue step F): entire car controller first combines four drive motor controllers in two drive shafts immediately, allows four drivings Motor driven power-off stops driving corresponding Electric Motor Wheel, then four Electric Motor Wheels of associated braking system controller control are steadily embraced immediately For lock until Electric Motor Wheel is motionless, entire car controller obtains the range information of preceding distance measuring sensor and the acquisition of rear distance measuring sensor again, sentences When collision will not be generated with other objects by powering off electrical automobile, double flashing lights warning of starting electric car is immediately controlled in entire car controller Periphery；Meanwhile two drive motor controllers of entire car controller joint front axle control corresponding two driving motors driving accordingly Electric Motor Wheel makes automobile balance advance to rotate with the pre-set velocity w3 of Electric Motor Wheel opposite direction just now to leave low attachment ground, sand Hole or subsided land, until entire car controller combines the control of respective drive electric machine controller after electric car sails out of a certain distance s2 Respective drive motor processed stops driving corresponding Electric Motor Wheel, and combines brake system controller and control four Electric Motor Wheel band-type brake parkings, Then stop double flashing light work.

7. a kind of drive control method of electric car intelligent driven controlling system according to claim 6, feature exist In: according to the first rotational speed difference preset value Δ w1, the second rotational speed difference preset value Δ w2, third rotational speed difference preset value Δ w3 are equal Vehicle, Tire aspect and road conditions carry out the preset value that experimental verification determines, for judging electric car front axle or rear axle is It is no to fall into low attachment ground, sand pit or subsided land；Distance s1 and distance s2, pre-set velocity w3 all in accordance with vehicle, Tire aspect with Condition of road surface is preset.

8. a kind of according to claim 1, drive control side of electric car intelligent driven controlling system described in 2,3,4 or 6 Method, it is characterised in that: when first drive shaft is automobile front axle, then the second drive shaft is automobile hind axle；First driving When axis is automobile hind axle, then the second drive shaft is automobile front axle.